robot

Abstract

The utility model relates to a kind of robots, comprising: frame body;Driving mechanism, the driving mechanism is set in the both sides of the frame body, the driving mechanism can move on the frame body, the driving mechanism is used to drive the frame body moves;Self-adapting adjustment component, comprising: support, moving mechanism, the support is movably connected with the frame body, the moving mechanism is connected with the support, the support can rotate to make the moving mechanism contact with plane.Self-adapting adjustment component includes support and moving mechanism, wherein, support is connected with frame body, and support is movably connected with moving mechanism, so when moving mechanism is in the part of curved surface, support can adjust the contact of moving mechanism and curved surface, to increase the contact area of moving mechanism and curved surface, avoid the loss of driving force caused by local disengagement, to improve the wall-climbing effect of robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a robot. Background Technology

[0002] Wall-climbing robots are automated robots capable of climbing and completing tasks on vertical walls, boasting advantages such as strong environmental adaptability, high automation, and high work efficiency. They primarily adhere to wall surfaces through negative pressure adsorption and magnetic adsorption, and can be widely used in scenarios such as fire rescue, ship rust removal, and chemical tank cleaning, replacing manual labor in dangerous and heavy-duty high-altitude operations. However, some wall-climbing robots in related technologies cannot adaptively adjust to the wall surface during movement, resulting in poor contact between the robot and the wall. Utility Model Content

[0003] In view of this, the present invention provides a robot. The robot can increase the contact area with the wall.

[0004] This utility model provides the following technical solution:

[0005] A robot, comprising:

[0006] Frame;

[0007] A drive mechanism is provided on both sides of the frame, the drive mechanism is movable on the frame, and the drive mechanism is used to drive the frame to move;

[0008] An adaptive adjustment component includes: a support and a moving mechanism, wherein the support is movably connected to the frame, the moving mechanism is connected to the support, and the support is rotatable to make the moving mechanism contact a plane.

[0009] Furthermore, the support includes: a support plate and a connecting plate;

[0010] The support plate is fixedly mounted on the frame, and the support plate is hinged to the connecting plate. A moving mechanism is provided on the side of the connecting plate away from the support plate.

[0011] Furthermore, the support plate has a first hinge portion on the side away from the frame, and the connecting plate has a second hinge portion on the side facing the support plate. The first hinge portion has a first hinge hole, and the second hinge portion has a second hinge hole. The first hinge portion and the second hinge portion are connected by a connecting pin.

[0012] Further, it also includes: a first elastic element and a second elastic element;

[0013] The first elastic element and the second elastic element are spaced apart between the support plate and the connecting plate, and both ends of the first elastic element and the second elastic element are respectively connected to the support plate and the connecting plate.

[0014] Furthermore, the moving mechanism includes: a first moving wheel and a second moving wheel;

[0015] The first and second movable wheels are spaced apart on the connecting plate, and the first and second movable wheels can rotate around the connecting plate.

[0016] Furthermore, the drive mechanism includes: a connecting frame, a first drive wheel, and a second drive wheel;

[0017] The connecting frame is rotatably connected to the frame body, and the first drive wheel and the second drive wheel are spaced apart on the connecting frame. The first drive wheel and the second drive wheel are used to drive the robot to move.

[0018] Further, it also includes: a first magnetic component and a second magnetic component;

[0019] The first magnetic element is disposed on the connecting plate, and the first magnetic element is located between the first moving wheel and the second moving wheel;

[0020] The second magnetic component is disposed on the connecting frame and is located between the first drive wheel and the second drive wheel.

[0021] Furthermore, the frame is provided with a connecting groove, and the connecting frame has a connecting member, which is hinged to the connecting groove.

[0022] Furthermore, the connecting groove is configured as a square groove, and the connector is configured as a square connector, which can limit the rotation angle of the frame relative to the connecting frame.

[0023] Furthermore, it also includes: a cleaning component; the cleaning component is rotatably mounted on the frame.

[0024] The robot includes a frame with drive mechanisms on both sides. These mechanisms allow the frame to move, enabling the robot to climb curved surfaces. This allows the drive mechanisms to move within a certain range, increasing the contact area between the drive mechanisms and the curved surface (e.g., a cylinder), thus improving the robot's stability. An adaptive adjustment component is located at the front of the frame. This component includes a support and a moving mechanism. The support is connected to the frame and movably connected to the moving mechanism. When the moving mechanism is on a curved surface, the support adjusts the contact area between the moving mechanism and the surface, increasing the contact area and preventing loss of driving force due to partial disengagement, thereby improving the robot's climbing ability. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 Exploded view of the robot provided for an embodiment of this utility model;

[0027] Figure 2 This is a schematic diagram of the structure of the adaptive adjustment component provided in an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of the drive mechanism provided in an embodiment of this utility model;

[0029] Figure 4 A bottom view of an exploded view provided for an embodiment of this utility model;

[0030] Figure 5 A schematic diagram of the robot provided in an embodiment of this utility model.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100-Frame; 110-Connecting slot; 200-Drive mechanism; 210-Connecting frame; 211-Connector; 220-First drive wheel; 230-Second drive wheel; 300-Adaptive adjustment assembly; 310-Bracket; 311-Bearing plate; 312-First hinge; 313-First hinge hole; 314-Connecting plate; 315-Second hinge; 316-Second hinge hole; 317-First elastic element; 318-Second elastic element; 320-Moving mechanism; 321-First moving wheel; 322-Second moving wheel; 400-First magnetic element; 500-Second magnetic element; 600-Cleaning assembly; Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0035] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of the present invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] Wall-climbing robots are automated robots capable of climbing and completing tasks on vertical walls, boasting advantages such as strong environmental adaptability, high automation, and high work efficiency. They primarily adhere to wall surfaces through negative pressure adsorption and magnetic adsorption, and can be widely used in scenarios such as fire rescue, ship rust removal, and chemical tank cleaning, replacing manual labor in dangerous and heavy-duty high-altitude operations. However, some wall-climbing robots in related technologies cannot adaptively adjust to the wall surface during movement, resulting in poor contact between the robot and the wall.

[0037] Therefore, this embodiment provides a robot. The robot can increase the contact area with the wall.

[0038] Please see Figure 1 A robot comprising:

[0039] Frame size 100;

[0040] A drive mechanism 200 is provided on both sides of the frame 100. The drive mechanism 200 is movable on the frame 100 and is used to drive the frame 100 to move.

[0041] The adaptive adjustment component 300 includes: a support 310 and a moving mechanism 320. The support 310 is movably connected to the frame 100, and the moving mechanism 320 is connected to the support 310. The support 310 is movable so that the moving mechanism 320 contacts a plane.

[0042] The robot includes a frame 100, with drive mechanisms 200 on both sides of the frame 100. These drive mechanisms 200 can move the frame 100, allowing the drive mechanisms 200 to move within a certain range when the robot climbs curved surfaces. This increases the contact area between the drive mechanisms 200 and the curved surface (e.g., a column), thereby improving the robot's stability. An adaptive adjustment component 300 is also located at the front of the frame 100. This component includes a support 310 and a moving mechanism 320. The support 310 is connected to the frame 100 and is movably connected to the moving mechanism 320. When the moving mechanism 320 is on a curved surface, the support 310 can adjust the contact area between the moving mechanism 320 and the surface, increasing the contact area and preventing loss of driving force due to partial disengagement, thus improving the robot's climbing performance.

[0043] Please see Figure 2 In some embodiments, the support 310 includes: a support plate 311 and a connecting plate 314;

[0044] The support plate 311 is fixedly mounted on the frame 100. The support plate 311 is hinged to the connecting plate 314. A moving mechanism 320 is provided on the side of the connecting plate 314 away from the support plate 311.

[0045] Understandably, the support frame 310 includes a support plate 311 and a connecting plate 314. The support plate 311 is fixedly connected to the frame 100, and the connecting plate 314 is hinged to the support plate 311, allowing the connecting plate 314 to rotate relative to the support plate 311. This allows the connecting plate 314 to drive the moving mechanism 320 mounted on the connecting plate 314 to rotate. Specifically, when the robot moves to a plane with different tilt angles, the connecting plate 314 can rotate around the hinge point, causing the moving mechanism 320 to adjust its contact angle with the plane. For example, if the wall surface is uneven or tilted, the connecting plate 314 rotates to ensure that the moving mechanism 320 always maintains contact with the wall surface, preventing the robot from detaching from the wall due to poor contact. This allows the moving mechanism 320 to automatically adjust its angle according to changes in the wall surface, thereby improving contact stability.

[0046] Please see Figure 2 In some embodiments, the support plate 311 has a first hinge portion 312 on the side away from the frame 100, and the connecting plate 314 has a second hinge portion 315 on the side facing the support plate 311. The first hinge portion 312 has a first hinge hole 313, and the second hinge portion 315 has a second hinge hole 316. The first hinge portion 312 and the second hinge portion 315 are connected by a connecting pin.

[0047] Understandably, the surface of the support plate 311 facing the connecting plate 314 is provided with a first hinge portion 312, and the side of the connecting plate 314 facing the support plate 311 is provided with a second hinge portion 315. Both the first hinge portion 312 and the second hinge portion 315 are protruding structures, and both the first hinge portion 312 and the second hinge portion 315 protrude from both sides of the plate surface. Both the first hinge portion 312 and the second hinge portion 315 are triangular. The support plate 311 and the second hinge portion 315 of the connecting plate 314 are connected by a hinge through the first hinge portion 312. After the connecting pin is inserted into the hinge hole of both, a rotatable pivot structure is formed. When the robot moves to an inclined or uneven surface, the connecting plate 314 can rotate around the axis of the connecting pin, driving the moving mechanism 320 to adjust the angle with the contact surface, so as to realize the adjustment of the moving structure and enhance the stability of the robot when moving on a vertical wall.

[0048] Please see Figure 2 In some embodiments, it further includes: a first elastic member 317 and a second elastic member 318;

[0049] The first elastic element 317 and the second elastic element 318 are spaced apart between the support plate 311 and the connecting plate 314, and both ends of the first elastic element 317 and the second elastic element 318 are respectively connected to the support plate 311 and the connecting plate 314.

[0050] Understandably, the first elastic element 317 and the second elastic element 318 are symmetrically installed between the bearing plate 311 and the connecting plate 314. When the connecting plate 314 changes angle due to unevenness of the wall surface, the first elastic element 317 and the second elastic element 318 generate opposite forces through compression or tension, so that the connecting plate 314 can return to a balanced state. For example, when one side of the connecting plate 314 is compressed by an external force, the elastic element on the corresponding side is compressed (e.g., the first elastic element 317 is compressed), and the elastic element on the other side is stretched (e.g., the second elastic element 318 is stretched). The torque difference formed thereby drives the connecting plate 314 to rotate around the hinge point until the moving mechanism 320 returns to stable contact with the wall surface. This avoids support failure caused by overload of the elastic element on one side, ensuring that the moving mechanism 320 maintains stable contact with the wall surface, thereby improving the mobility reliability and operation continuity of the robot in complex wall environments.

[0051] Please see Figure 2 In some embodiments, the moving mechanism 320 includes: a first moving wheel 321 and a second moving wheel 322;

[0052] The first movable wheel 321 and the second movable wheel 322 are spaced apart on the connecting plate 314, and the first movable wheel 321 and the second movable wheel 322 can rotate around the connecting plate 314.

[0053] Understandably, the first moving wheel 321 and the second moving wheel 322 are used to contact the wall surface and increase the friction between the robot and the wall. To improve the friction of the first moving wheel 321 and the second moving wheel 322, textures can be provided on their surfaces. The first moving wheel 321 and the second moving wheel 322 are spaced apart on the surface of the connecting plate 314 away from the support plate 311, and the first moving wheel 321 and the second moving wheel 322 can rotate on the connecting plate 314, thus enabling the first moving wheel 321 and the second moving wheel 322 to adjust their direction. Specifically, when the robot moves to a curved or inclined surface, the connecting plate 314 rotates relative to the support plate 311 so that the first moving wheel 321 and the second moving wheel 322 are in contact with the contact surface. Because the two moving wheels are spaced apart, when encountering a raised or recessed area, one wheel can be raised or lowered while the other wheel remains in contact, thereby preventing the entire robot from detaching from the surface. This enhances the robot's stability and obstacle-crossing ability when moving on complex surfaces.

[0054] Please see Figure 3 In some embodiments, the drive mechanism 200 includes: a connecting frame 210, a first drive wheel 220, and a second drive wheel 230;

[0055] The connecting frame 210 is rotatably connected to the frame 100. The first drive wheel 220 and the second drive wheel 230 are spaced apart on the connecting frame 210. The first drive wheel 220 and the second drive wheel 230 are used to drive the robot to move.

[0056] Understandably, a first drive wheel 220 and a second drive wheel 230 are respectively provided on both sides of the connection. The connecting frame 210 can be equipped with a power unit connected to the first drive wheel 220 and the second drive wheel 230, thus driving the frame 100 to move. The connecting piece 211 is rotatably connected to the frame 100. When the robot comes into contact with an inclined or uneven wall surface, the connecting frame 210 can deflect around the axis of the frame 100 at a certain angle. At this time, the first drive wheel 220 and the second drive wheel 230 continuously output power under the drive of independent motors. Since the dual drive wheels are arranged alternately on the connecting frame 210, when the connecting frame 210 deflects, the overall contact angle of the drive wheel assembly changes accordingly, ensuring that at least one drive wheel always maintains effective contact with the wall surface. This achieves the purpose of improving the stability of the robot.

[0057] Please see Figure 2 and Figure 3 In some embodiments, it further includes: a first magnetic element 400 and a second magnetic element 500;

[0058] The first magnetic element 400 is disposed on the connecting plate 314, and the first magnetic element 400 is located between the first moving wheel 321 and the second moving wheel 322;

[0059] The second magnetic element 500 is disposed on the connecting frame 210, and the second magnetic element 500 is located between the first drive wheel 220 and the second drive wheel 230.

[0060] Understandably, both the first magnetic component 400 and the second magnetic component 500 are made of Helbeck array magnets. The first magnetic component 400 is mounted on the connecting plate 314. When the robot moves along a vertical wall, the first magnetic component 400 uses magnetic attraction to keep the first moving wheel 321 and the second moving wheel 322 firmly against the wall. Furthermore, the first magnetic component 400 is positioned between the first moving wheel 321 and the second moving wheel 322. This placement ensures more balanced force on both sides of the first moving wheel 321 and the second moving wheel 322, thus preventing one side from detaching from the wall.

[0061] Similarly, the second magnetic component 500 is mounted on the connecting frame 210 and positioned between the first drive wheel 220 and the second drive wheel 230. When the robot moves along the vertical wall, the second magnetic component 500 uses magnetic attraction to keep the first drive wheel 220 and the second drive wheel 230 pressed tightly against the wall. Positioning the magnetic component between the first drive wheel 220 and the second drive wheel 230 ensures a more balanced force on both sides, thus preventing one side from detaching from the wall.

[0062] Please see Figure 4 In some embodiments, the frame 100 is provided with a connecting groove 110, and the connecting frame 210 has a connector 211, which is hinged to the connecting groove 110.

[0063] Understandably, the frame 100 extends to the portion near the drive mechanism 200 and is provided with a connecting groove 110. In order to connect the connecting frame 210 with the connecting groove 110, a connecting member 211 is provided on the connecting frame 210. The connecting member 211 is set with a shape that matches the connecting groove 110. The connecting member 211 is hinged to the connecting groove 110, so that the connecting member 211 can rotate relative to the connecting groove 110 to realize the adjustment of the drive mechanism 200 relative to the frame 100, so that the drive mechanism 200 can have a larger contact area with the contact surface.

[0064] Please see Figure 4 and Figure 5 In some embodiments, the connecting groove 110 is configured as a square groove, and the connector 211 is configured as a square connector 211, which can limit the rotation angle of the frame 100 relative to the connecting frame 210.

[0065] Understandably, a square groove refers to a groove structure with a square cross-section, which connects to a square connector 211. When the connector 211 is embedded in the square groove, the inner wall of the square groove and the outer wall of the connector 211 form surface contact. When the frame 100 is subjected to external force, the inner wall of the square groove applies a constraint force to the connector 211, so that the frame 100 can only rotate relative to the connector 210 within a preset angle range. For example, the side wall of the square groove can limit the rotation angle of the connector 211 to no more than ±30 degrees, thereby preventing the drive wheel from failing to contact the wall surface.

[0066] In some specific embodiments, the inner wall of the square groove may be provided with a wear-resistant coating to reduce friction loss, and the corners of the connector 211 may be designed with a chamfered structure to improve assembly smoothness.

[0067] Please see Figure 4In some embodiments, it further includes a cleaning component 600; the cleaning component 600 is rotatably mounted on the frame 100.

[0068] Understandably, the frame 100 is equipped with a mounting interface, and the cleaning component 600 is connected to the mounting interface via a pivot or rotating base, allowing the cleaning component 600 to rotate around its axis during operation. When the robot moves along the wall, the cleaning component 600 adjusts its posture by rotating. For example, when encountering uneven surfaces, the rotation prevents the cleaning components from getting stuck or excessively worn, while maintaining continuous contact with the wall. Furthermore, the rotational power of the cleaning component 600 can be provided by an independent motor, or linked to the drive components of the moving mechanism 320 via a transmission mechanism, thereby achieving coordinated control of the cleaning action and the robot's movement.

[0069] In this utility model, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this utility model. The appearance of these phrases in various places in the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this utility model can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this utility model can be arbitrarily combined to form another embodiment that does not depart from the spirit and scope of the technical solution of this utility model, provided there is no contradiction between them.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solution of this utility model should not depart from the spirit and scope of the technical solution of this utility model.

Claims

1. A robot, characterized in that, include: Frame; A drive mechanism is provided on both sides of the frame, the drive mechanism is movable on the frame, and the drive mechanism is used to drive the frame to move; An adaptive adjustment component includes: a support and a moving mechanism, wherein the support is movably connected to the frame, the moving mechanism is connected to the support, and the support is rotatable to make the moving mechanism contact a plane.

2. The robot according to claim 1, characterized in that, The support includes: a load-bearing plate and a connecting plate; The support plate is fixedly mounted on the frame, and the support plate is hinged to the connecting plate. A moving mechanism is provided on the side of the connecting plate away from the support plate.

3. The robot according to claim 2, characterized in that, The support plate has a first hinge portion on the side away from the frame, and the connecting plate has a second hinge portion on the side facing the support plate. The first hinge portion has a first hinge hole, and the second hinge portion has a second hinge hole. The first hinge portion and the second hinge portion are connected by a connecting pin.

4. The robot according to claim 2, characterized in that, Also includes: First elastic element and second elastic element; The first elastic element and the second elastic element are spaced apart between the support plate and the connecting plate, and both ends of the first elastic element and the second elastic element are respectively connected to the support plate and the connecting plate.

5. The robot according to claim 2, characterized in that, The moving mechanism includes: a first moving wheel and a second moving wheel; The first and second movable wheels are spaced apart on the connecting plate, and the first and second movable wheels can rotate around the connecting plate.

6. The robot according to claim 5, characterized in that, The drive mechanism includes: a connecting frame, a first drive wheel, and a second drive wheel; The connecting frame is rotatably connected to the frame body, and the first drive wheel and the second drive wheel are spaced apart on the connecting frame. The first drive wheel and the second drive wheel are used to drive the robot to move.

7. The robot according to claim 6, characterized in that, Also includes: First magnetic component and second magnetic component; The first magnetic element is disposed on the connecting plate, and the first magnetic element is located between the first moving wheel and the second moving wheel; The second magnetic component is disposed on the connecting frame and is located between the first drive wheel and the second drive wheel.

8. The robot according to claim 6, characterized in that, The frame is provided with a connecting groove, and the connecting frame has a connecting member, which is hinged to the connecting groove.

9. The robot according to claim 8, characterized in that, The connecting groove is a square groove, and the connector is a square connector. The connector can limit the rotation angle of the frame relative to the connecting frame.

10. The robot according to any one of claims 1 to 9, characterized in that, Also includes: Cleaning assembly; the cleaning assembly is rotatably mounted on the frame.

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